US3244862A - Earth navigational system - Google Patents

Earth navigational system Download PDF

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Publication number
US3244862A
US3244862A US853121A US85312159A US3244862A US 3244862 A US3244862 A US 3244862A US 853121 A US853121 A US 853121A US 85312159 A US85312159 A US 85312159A US 3244862 A US3244862 A US 3244862A
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US
United States
Prior art keywords
earth
reference frame
respect
navigational system
rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US853121A
Inventor
Press Martin
Murgio Joseph
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TDK Micronas GmbH
International Telephone and Telegraph Corp
Original Assignee
Deutsche ITT Industries GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US753692A external-priority patent/US3194948A/en
Application filed by Deutsche ITT Industries GmbH filed Critical Deutsche ITT Industries GmbH
Priority to US853121A priority Critical patent/US3244862A/en
Application granted granted Critical
Publication of US3244862A publication Critical patent/US3244862A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
    • G06F7/60—Methods or arrangements for performing computations using a digital non-denominational number representation, i.e. number representation without radix; Computing devices using combinations of denominational and non-denominational quantity representations, e.g. using difunction pulse trains, STEELE computers, phase computers
    • G06F7/64—Digital differential analysers, i.e. computing devices for differentiation, integration or solving differential or integral equations, using pulses representing increments; Other incremental computing devices for solving difference equations
    • G06F7/66—Digital differential analysers, i.e. computing devices for differentiation, integration or solving differential or integral equations, using pulses representing increments; Other incremental computing devices for solving difference equations wherein pulses represent unitary increments only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
    • B64G1/369—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using gyroscopes as attitude sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/166—Mechanical, construction or arrangement details of inertial navigation systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
    • G06F7/38—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation
    • G06F7/48—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation using non-contact-making devices, e.g. tube, solid state device; using unspecified devices
    • G06F7/544—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation using non-contact-making devices, e.g. tube, solid state device; using unspecified devices for evaluating functions by calculation
    • G06F7/548—Trigonometric functions; Co-ordinate transformations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/34—Guiding or controlling apparatus, e.g. for attitude control using gravity gradient

Description

April 5, 1966 M. PRESS ETAL 3,244,862
EARTH NAVIGATIONAL SYSTEM 26 Sheets-Sheet 1 Filed Nov. 16, 1959 lnmnlors MART/N PRESS JOSEPH MURG/O 7 Allorm'i' April 5, 1966 M. PRESS ETAL 3,244,862
EARTH NAVIGATIONAL SYSTEM Filed NOV- 16, 1959 Y 26 Sheets-Sheet 2 MA R T/N PRESS JOSEPH MURG/O A Hon 0 April 1966 M. PRESS ETAL. 3,244,862
EARTH NAVIGATIONAL SYSTEM 26 Sheets-Sheet 5 Filed Nov. 16, 1959 0,m y 5Z0. mm m WN /m w w RE 7 AM% J April 5, 1966 M. PRESS ETAL EARTH NAVIGATIONAL SYSTEM Filed Nov. 16, 1959 26 Sheets- Sheet 4 W I N wkkmwmws April 5, 1966 M. PRESS ETAL 3,244,862
EARTH NAVIGATIONAL SYSTEM Filed Nov. 16, 1959 26 Sheets-Sheet 5 FROM 75 FIG. 6b
Cos A I O 6 Elly. c F J A00 EAL cos/H12 szCbsA k 93 97/ 97 FROM F/.6a
I 9 4 0 1: ir
FROM 76 AL H44 #00? nsto CLOCK H LI A00 ZALSmAwf-QSZSmA 96 v 057-067" A00 7 m 322 A INVENTORS. FROM 74 MART/Al PRESS ATTORNEY A ril 5, 1966 M. PRESS ETAL 3,244,362
EARTH NAVIGATIONAL SYSTEM Filed Nov. 16, 1959 26 Sheets-Sheet 6 April 5, 1966 M. PRESS mm. 3,
EARTH NAVIGATIONAL SYSTEM Filed Nov. 16, 1959 26 Sheets-Sheet 7 Q E II .m
26 Sheets-Sheet 8 M. PRESS ETAL EARTH NAVIGATIONAL SYSTEM April 5, 1966 Filed Nov. 16, 1959 April 5, 1966 Filed Nov. 16, 1959 M. PRESS ETAL EARTH NAVIGATIONAL SYSTEM 26 Sheets-Sheet 9 ATTORNEY A ril 5, 1966 M. PRESS ETAL 3,244,362
EARTH NAVIGATIONAL SYSTEM Filed Nov. 16, .1959 I 26 Sheets-Sheet 10 C o-%bC'/RCU/7' [39 140 AND MP A AND CIRCUIT A 4 l I Q? cl i k ggzsss 7;, /43 l DEZAY 144 I /4 ozmy & a I O c? @42 9c 02 mom/o l I IBATTEAY T GROUND I l BATTERY 72 Inventors MART/N PRESS JOSEPH MU QG/O A ril 5, 1966 M. PRESS ETAL EARTH NAVIGATIONAL SYSTEM 26 Sheets-Sheet 11 Filed Nov. 16, 1959 April 5, 1966 M. PRESS ETAL EARTH NAVIGATIONAL SYSTEM 26 Sheets-Sheet 12 Filed NOV. 16, 1959 April 5, 1966 M. PRESS ETAL EARTH NAVIGATIONAL SYSTEM 26 Sheets-Sheet 13 Filed Nov. 16, 1959 afi www April 5, 1966 M. PRESS ETAL 3,244,862
EARTH NAVIGATIONAL SYSTEM Filed Nov. 16, 1959 26 Sheets-Sheet 14 r0 I97 4 I 4 F/GJ/b A INVENTORS. MART/N Pfi'Ss' Jose/w Ml/RQVO A T TORNEY

Claims (1)

1. AN INERTIAL NAVIGATION SYSTEM COMPRISING ROTATION SENSORS IN A BODY PRODUCING PULSES REPRESENTING INCREMEANS OF BODY ROTATION IN INERTIAL SPACE, SAID PULSES CONTROLLING GATING DEVICES IN A COMPUTER FOR COMPUTING AND STORING BODY ATTITUDE WITH RESPECT TO AN IMAGINARY REFERENCE FRAME WITH A SECOND COMPUTER COUPLED THERETO AND RESPONSIVE TO INERTIAL SENSORS IN SAID BODY FOR COMPUTING AND STORING BODY POSITION WITH RESPECT OT SAID REFERENCE FRAME, SAID IMAGINARY REFERENCE FRAME AXES ROTATING WITH THE CHANGE OF THE EARTH LATITUDE AND GRAVITY DUE TO THE ROTATION OF THE EARTH AND THE MOVEMENT OF SAID BODY TO REMAIN IN ALIGNMENT WITH SAID EARTH LATITUDE, LONGITUDE AND GRAVITY, DETECTING MEANS COUPLED TO SAID POSITION COMPUTER FOR DETECTING GIVEN INCREMENTAL CHANGES IN REFERENCE FRAME ATTITUDE WITH RESPECT TO INERTIAL SPACE AND PRODUCING PULSES REPRESENTATIVE THEREOF AND MEANS FOR APPLYING SAID PULSES TO SAID GATING DEVICES THEREBY ALTERING SAID STORED BODY ATTITUDE IN SOMEWHAT THE SAME
US853121A 1958-08-07 1959-11-16 Earth navigational system Expired - Lifetime US3244862A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US853121A US3244862A (en) 1958-08-07 1959-11-16 Earth navigational system

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US753692A US3194948A (en) 1958-08-07 1958-08-07 Velocity and position computer
US800428A US3258226A (en) 1958-08-07 1959-03-19 Attitude computer with rotatable reference frame
US853121A US3244862A (en) 1958-08-07 1959-11-16 Earth navigational system
GB25238/60A GB938957A (en) 1958-08-07 1960-07-20 An attitude computer
FR838781A FR1272641A (en) 1958-08-07 1960-09-16 Calculator of the position of a mobile in space
FR919976A FR83759E (en) 1958-08-07 1962-12-28 Calculator of the position of a mobile in space
FR924202A FR83761E (en) 1958-08-07 1963-02-08 Calculator of the position of a mobile in space
NL6600249A NL6600249A (en) 1958-08-07 1966-01-10
GB13996/66A GB1116543A (en) 1958-08-07 1966-03-30 Attitude computer with rotatable reference frame

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Publication Number Publication Date
US3244862A true US3244862A (en) 1966-04-05

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US853121A Expired - Lifetime US3244862A (en) 1958-08-07 1959-11-16 Earth navigational system

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3763358A (en) * 1971-10-21 1973-10-02 D Cargille Interweaved matrix updating coordinate converter
US20210190815A1 (en) * 2010-09-28 2021-06-24 Wensheng Hua Multi sensor position and orientation measurement system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2895670A (en) * 1956-07-27 1959-07-21 Sperry Rand Corp Ford Instr Co Flight analyzer
US2932471A (en) * 1954-09-30 1960-04-12 Hughes Aircraft Co Broad bandwidth digital servo
US2945643A (en) * 1955-11-28 1960-07-19 North American Aviation Inc Control system
US2988818A (en) * 1954-01-06 1961-06-20 Ibm Azimuth directional reference system
US3133190A (en) * 1952-03-31 1964-05-12 Sperry Rand Corp Universal automatic computer utilizing binary coded alphanumeric characters

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3133190A (en) * 1952-03-31 1964-05-12 Sperry Rand Corp Universal automatic computer utilizing binary coded alphanumeric characters
US2988818A (en) * 1954-01-06 1961-06-20 Ibm Azimuth directional reference system
US2932471A (en) * 1954-09-30 1960-04-12 Hughes Aircraft Co Broad bandwidth digital servo
US2945643A (en) * 1955-11-28 1960-07-19 North American Aviation Inc Control system
US2895670A (en) * 1956-07-27 1959-07-21 Sperry Rand Corp Ford Instr Co Flight analyzer

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3763358A (en) * 1971-10-21 1973-10-02 D Cargille Interweaved matrix updating coordinate converter
US20210190815A1 (en) * 2010-09-28 2021-06-24 Wensheng Hua Multi sensor position and orientation measurement system
US11567101B2 (en) * 2010-09-28 2023-01-31 Wensheng Hua Multi sensor position and orientation measurement system

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